/**
  ******************************************************************************
  * File Name          : gpio.c
  * Description        : This file provides code for the configuration
  *                      of all used GPIO pins.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "gpio.h"
/* USER CODE BEGIN 0 */
#include "chassis.h"
#include "laser.h"
/* USER CODE END 0 */

/*----------------------------------------------------------------------------*/
/* Configure GPIO                                                             */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, LED1_Pin|LED2_Pin|LED3_Pin, GPIO_PIN_SET);

  /*Configure GPIO pins : PEPin PEPin */
  GPIO_InitStruct.Pin = KEY1_Pin|KEY2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pins : PAPin PAPin PAPin */
  GPIO_InitStruct.Pin = LED1_Pin|LED2_Pin|LED3_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : PtPin */
  GPIO_InitStruct.Pin = S1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(S1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : PtPin */
  GPIO_InitStruct.Pin = test_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(test_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI2_IRQn, 4, 0);
  HAL_NVIC_EnableIRQ(EXTI2_IRQn);

  HAL_NVIC_SetPriority(EXTI3_IRQn, 4, 0);
  HAL_NVIC_EnableIRQ(EXTI3_IRQn);

}

/* USER CODE BEGIN 2 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
  // HAL_Delay(50);
  // if (!HAL_GPIO_ReadPin(GPIOE, GPIO_Pin))
  // {
  //   if (GPIO_Pin == KEY1_Pin)
  //   {
  //     // uprintf("key1\r\n");
  //     // HAL_GPIO_TogglePin(GPIOA, LED2_Pin);
  //   }
  //   else if (GPIO_Pin == KEY2_Pin)
  //   {
  //     // uprintf("key2\r\n");
  //     // HAL_GPIO_TogglePin(GPIOA, LED3_Pin);
  //   }
  // }
  if (GPIO_Pin == KEY1_Pin)
  {
    uprintf("key1\r\n");
    uprintf("DATA: (%.4f,%.4f) l=%.4f sl=%.4f r=%.4f sr=%.4f m5=%d m6=%d m7=%d\r\n", chassis.pos_x, chassis.pos_y, laser_left.distance/100, laser_sideLeft.distance/100, laser_right.distance/100, laser_sideRight.distance/100, Motor[5].pos, Motor[6].pos, Motor[7].pos);
    HAL_GPIO_TogglePin(GPIOA, LED2_Pin);
  }
  else if (GPIO_Pin == KEY2_Pin)
  {
    chassis_start_flag = 1;
    // uprintf("key2: start\r\n");
  }
}
/* USER CODE END 2 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
